Segmentation of LiDAR Data Using Multilevel Cube Code

Table 3

Parameter estimation and accuracy of cylindrical surfaces. (a) Orientation angles of axis. (b) Centers and radius of cylinder.

(a)

Data	Parameter	[°]	[°]	[°]	[°]
Simulation 1	Estimation	65.23	15.02	1.61	0.15
	MSE of parameter	0.035	0.040
Simulation 2	Estimation	-29.36	5.00	1.95	0.10
	MSE of parameter	0.010	0.002
Real	Estimation	33.60	–0.02	2.94	0.13
	MSE of parameter	0.557	0.04

(b)

Data	Parameter	[m]	[m]	[m]	[m]	[m]
Simulation 1	Estimation	14.67	4.97	5.00	0.24	0.13
	MSE of parameter	0.001	0.002	0.002
Simulation 2	Estimation	28.10	-3.42	13.59	6.62	0.32
	MSE of parameter	0.014	0.056	0.049
Real	Estimation	448047.89	46.91	8.23	3.49	0.23
	MSE of parameter	0.031	0.241	0.228